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Commit 5e2063f6 authored by Alessandro Del Duca's avatar Alessandro Del Duca
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Modified pid control to take into account that the real input is U = Ubar +...

Modified pid control to take into account that the real input is U = Ubar + du, where du depend on the reference error and Ubar depend on the trajectory chose. With this modification, at error = 0 correspond an input drag U = Ubar
parent 54d16027
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